unity2moveit2/unity-project/Assets/Scripts/Tests/ROSConnectionTest.cs

using System.Collections;
using UnityEngine;
using UnityEngine.TestTools;
using NUnit.Framework;
using Unity.Robotics.ROSTCPConnector;

namespace UnityMoveIt2.Tests
{
    /// <summary>
    /// ROS连接测试 / ROS Connection Test
    /// 验证Unity与ROS2之间的TCP通信功能 / Verify TCP communication between Unity and ROS2
    /// </summary>
    public class ROSConnectionTest
    {
        private ROSConnection rosConnection;
        private GameObject testGameObject;

        #region 测试设置与清理 / Test Setup and Teardown

        [SetUp]
        public void SetUp()
        {
            // 创建测试游戏对象 / Create test game object
            testGameObject = new GameObject("TestROSConnection");
            rosConnection = testGameObject.AddComponent<ROSConnection>();

            // 配置连接参数 / Configure connection parameters
            rosConnection.RosIPAddress = "127.0.0.1";
            rosConnection.RosPort = 10000;
            rosConnection.ConnectOnStart = false; // 手动控制连接 / Manual connection control
        }

        [TearDown]
        public void TearDown()
        {
            // 清理测试对象 / Clean up test objects
            if (rosConnection != null)
            {
                rosConnection.Disconnect();
            }

            if (testGameObject != null)
            {
                Object.DestroyImmediate(testGameObject);
            }
        }

        #endregion

        #region 基础连接测试 / Basic Connection Tests

        /// <summary>
        /// 测试1: 验证ROSConnection组件创建
        /// Test 1: Verify ROSConnection component creation
        /// </summary>
        [Test]
        public void Test01_ROSConnection_ComponentCreation()
        {
            // 验证组件已创建 / Verify component is created
            Assert.IsNotNull(rosConnection, "ROSConnection组件应该被创建 / ROSConnection component should be created");

            // 验证默认配置 / Verify default configuration
            Assert.AreEqual("127.0.0.1", rosConnection.RosIPAddress, "默认IP应该是127.0.0.1 / Default IP should be 127.0.0.1");
            Assert.AreEqual(10000, rosConnection.RosPort, "默认端口应该是10000 / Default port should be 10000");

            Debug.Log("[测试通过] ROSConnection组件创建成功 / [Test Passed] ROSConnection component created successfully");
        }

        /// <summary>
        /// 测试2: 验证连接到ROS2 TCP端点
        /// Test 2: Verify connection to ROS2 TCP endpoint
        /// </summary>
        [UnityTest]
        public IEnumerator Test02_ROSConnection_ConnectToROS2()
        {
            Debug.Log("[测试开始] 正在连接到ROS2... / [Test Start] Connecting to ROS2...");

            // 尝试连接 / Attempt connection
            rosConnection.Connect();

            // 等待连接建立 / Wait for connection establishment
            yield return new WaitForSeconds(2f);

            // 验证连接状态 / Verify connection status
            bool hasError = rosConnection.HasConnectionError;

            if (!hasError)
            {
                Debug.Log("[测试通过] ✓ 成功连接到ROS2 TCP端点 / [Test Passed] ✓ Successfully connected to ROS2 TCP endpoint");
                Assert.IsFalse(hasError, "连接应该成功 / Connection should succeed");
            }
            else
            {
                Debug.LogWarning("[测试警告] ✗ 连接失败 - 请确保ROS2服务正在运行 / [Test Warning] ✗ Connection failed - Make sure ROS2 service is running");
                Debug.LogWarning("提示: 运行 'docker-compose up -d' 启动ROS2服务 / Hint: Run 'docker-compose up -d' to start ROS2 service");

                // 这里不使用Assert.Fail，因为ROS2服务可能未启动
                // Don't use Assert.Fail here as ROS2 service might not be running
                Assert.Inconclusive("ROS2服务未运行,测试无法完成 / ROS2 service not running, test inconclusive");
            }
        }

        /// <summary>
        /// 测试3: 验证连接保持
        /// Test 3: Verify connection persistence
        /// </summary>
        [UnityTest]
        public IEnumerator Test03_ROSConnection_KeepAlive()
        {
            Debug.Log("[测试开始] 测试连接保持... / [Test Start] Testing connection keep-alive...");

            // 建立连接 / Establish connection
            rosConnection.Connect();
            yield return new WaitForSeconds(1f);

            if (rosConnection.HasConnectionError)
            {
                Debug.LogWarning("[测试跳过] ROS2服务未运行 / [Test Skipped] ROS2 service not running");
                Assert.Inconclusive("需要ROS2服务运行 / Requires ROS2 service running");
                yield break;
            }

            // 保持连接5秒 / Keep connection for 5 seconds
            Debug.Log("[测试中] 保持连接5秒... / [Testing] Keeping connection for 5 seconds...");
            yield return new WaitForSeconds(5f);

            // 验证连接仍然有效 / Verify connection is still valid
            bool stillConnected = !rosConnection.HasConnectionError;

            Assert.IsTrue(stillConnected, "连接应该保持活跃 / Connection should remain active");
            Debug.Log("[测试通过] ✓ 连接保持成功 / [Test Passed] ✓ Connection kept alive successfully");
        }

        /// <summary>
        /// 测试4: 验证断开连接
        /// Test 4: Verify disconnection
        /// </summary>
        [UnityTest]
        public IEnumerator Test04_ROSConnection_Disconnect()
        {
            Debug.Log("[测试开始] 测试断开连接... / [Test Start] Testing disconnection...");

            // 先连接 / Connect first
            rosConnection.Connect();
            yield return new WaitForSeconds(1f);

            if (rosConnection.HasConnectionError)
            {
                Debug.LogWarning("[测试跳过] ROS2服务未运行 / [Test Skipped] ROS2 service not running");
                Assert.Inconclusive("需要ROS2服务运行 / Requires ROS2 service running");
                yield break;
            }

            // 断开连接 / Disconnect
            rosConnection.Disconnect();
            yield return new WaitForSeconds(0.5f);

            // 验证已断开 / Verify disconnection
            bool isDisconnected = rosConnection.HasConnectionError;

            Assert.IsTrue(isDisconnected, "应该显示为已断开 / Should show as disconnected");
            Debug.Log("[测试通过] ✓ 断开连接成功 / [Test Passed] ✓ Disconnection successful");
        }

        #endregion

        #region 配置测试 / Configuration Tests

        /// <summary>
        /// 测试5: 验证IP地址配置
        /// Test 5: Verify IP address configuration
        /// </summary>
        [Test]
        public void Test05_ROSConnection_IPConfiguration()
        {
            // 测试不同的IP配置 / Test different IP configurations
            string[] testIPs = { "127.0.0.1", "localhost", "172.17.0.1" };

            foreach (string ip in testIPs)
            {
                rosConnection.RosIPAddress = ip;
                Assert.AreEqual(ip, rosConnection.RosIPAddress,
                    $"IP应该设置为{ip} / IP should be set to {ip}");
            }

            Debug.Log("[测试通过] IP配置测试成功 / [Test Passed] IP configuration test successful");
        }

        /// <summary>
        /// 测试6: 验证端口配置
        /// Test 6: Verify port configuration
        /// </summary>
        [Test]
        public void Test06_ROSConnection_PortConfiguration()
        {
            // 测试不同的端口配置 / Test different port configurations
            int[] testPorts = { 10000, 10001, 10002 };

            foreach (int port in testPorts)
            {
                rosConnection.RosPort = port;
                Assert.AreEqual(port, rosConnection.RosPort,
                    $"端口应该设置为{port} / Port should be set to {port}");
            }

            Debug.Log("[测试通过] 端口配置测试成功 / [Test Passed] Port configuration test successful");
        }

        #endregion

        #region 单例模式测试 / Singleton Pattern Tests

        /// <summary>
        /// 测试7: 验证单例模式
        /// Test 7: Verify singleton pattern
        /// </summary>
        [Test]
        public void Test07_ROSConnection_SingletonPattern()
        {
            // 获取单例实例 / Get singleton instance
            ROSConnection instance1 = ROSConnection.GetOrCreateInstance();
            ROSConnection instance2 = ROSConnection.GetOrCreateInstance();

            // 验证是同一个实例 / Verify same instance
            Assert.AreSame(instance1, instance2,
                "两次获取应该返回同一个实例 / Should return same instance twice");

            Debug.Log("[测试通过] 单例模式验证成功 / [Test Passed] Singleton pattern verified");
        }

        #endregion

        #region 集成测试说明 / Integration Test Notes

        /// <summary>
        /// 集成测试说明 / Integration Test Notes
        ///
        /// 运行这些测试前,请确保:
        /// Before running these tests, please ensure:
        ///
        /// 1. Docker已安装并运行 / Docker is installed and running
        /// 2. ROS2服务已启动: / ROS2 service is started:
        ///    cd docker
        ///    docker-compose up -d
        /// 3. 端口10000可访问 / Port 10000 is accessible
        /// 4. 防火墙允许连接 / Firewall allows connection
        ///
        /// 查看ROS2服务状态: / Check ROS2 service status:
        ///   docker-compose ps
        ///   docker-compose logs ros2-unity
        ///
        /// 测试网络连接: / Test network connection:
        ///   PowerShell: Test-NetConnection -ComputerName 127.0.0.1 -Port 10000
        ///   Python: python scripts/test_ros_tcp_connection.py
        /// </summary>
        [Test]
        public void Test99_Integration_Instructions()
        {
            Debug.Log("=== ROS连接测试使用说明 / ROS Connection Test Instructions ===");
            Debug.Log("1. 启动ROS2服务: docker-compose up -d");
            Debug.Log("2. 验证服务状态: docker-compose ps");
            Debug.Log("3. 运行测试套件: Unity Test Runner");
            Debug.Log("4. 查看测试结果: 检查Console输出");
            Debug.Log("================================================================");

            Assert.Pass("这是一个说明性测试 / This is an informational test");
        }

        #endregion
    }
}